Output argument "St" (and maybe others) not assigned during call to "function ".
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I got an error
Output argument "St" (and maybe others) not assigned during call to "get_StCarretero".
Error in InverseVelocityCarretero (line 25)
[St,p]=get_StCarretero(t,P)
Error in RK4_PhRS (line 21)
[k1,~,~,P1,~,~,~,q1] = F(t,th,P,q);
Error in CarreterosPRS_20200812_Velocity (line 24)
[JointValue,Stm,MM,Pose,G,FRK,Rd,q_out,Pd]=
RK4_PhRS(@InverseVelocityCarretero,0,ts,1,th,p,q);
when running the following program.
function [St,p] = get_StCarretero(t,pint)
ts = 1/1000;
rp=1000;
L=1000;
alpha=2*pi/3;
beta=4*pi/3;
A=cos(alpha)-cos(beta);
B=sin(alpha)-sin(beta);
C=(cos(beta)-1)/tan(beta)-(cos(alpha)-1)/tan(alpha);
z=707.1068;
if t==0
x=pint(1);
y=pint(2);
z=pint(3);
else
th=0.2*cos(2*pi*t);
psi=0.2*sin(2*pi*t);
R=A*(cos(th)-cos(psi))+B*cos(th)*sin(psi);
S=A*sin(th)*sin(psi)-B*cos(th)+C*cos(psi);
phi=atan(-R/S);
x=-rp*(cos(th)*cos(phi)+sin(psi)*sin(th)*sin(phi))*cos(alpha)-rp*(-cos(th)*sin(phi)+sin(psi)*sin(th)*cos(phi))*sin(alpha)+(rp/tan(alpha))*(cos(psi)*sin(phi)*(cos(alpha)-1)+cos(psi)*cos(phi)*sin(alpha));
y=-cos(psi)*sin(phi)*rp;
p=[x;y;z]
yaw = phi;
pitch= th;
roll = psi;
vx=diff([x])/ts;
vy=diff([y])/ts;
vz=diff([z])/ts;
droll=diff([psi0,roll])/ts;
dpitch=diff([th0,pitch])/ts;
dyaw=diff([phi0,yaw])/ts ;
JT=[cos(pitch)*cos(yaw) sin(yaw) 0; cos(pitch)*sin(yaw) cos(yaw) 0; -sin(pitch) 0 0];
omg=JT*[dpitch;droll;dyaw];
wx=omg(1);
wy=omg(2);
wz=omg(3);
St =[vx;vy;vz;wx;wy;wz];
end
end
Any help is apperciated
Thank you
9 Comments
Walter Roberson
on 22 Aug 2020
After you have done the calculations, but before you return, you need to update x0, y0, z0 with the current x, y, z.
Answers (0)
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